Management of mobile objects

ABSTRACT

An embodiment of the invention may include a method, computer program product and computer system for managing mobile objects. The embodiment may manage, by a first computing system, a plurality of mobile objects moving within a geographic space. Managing the plurality of mobile objects may assisting with movement of the plurality of mobile objects. The embodiment may determine whether a first mobile object among the plurality of mobile objects is a real mobile object based on a first sensor information received from the first mobile object. The embodiment may use information received from the first mobile object in managing the plurality of mobile objects moving within the geographic space based on determining that the first mobile object is the real mobile object.

BACKGROUND

The present invention relates to management of the movement of mobile objects.

Conventionally, a high-speed driving support and automobile driving system is known that communicates with and receives information from a plurality of automobiles. Such a system acquires event information concerning accidents or obstructions on the road and maps this information onto a map along with the position of automobiles, and references automobile position information, automobile characteristic information, and driver characteristic information to transmit suitable event information to each automobile, as shown in International Patent Application WO2016/203385. Furthermore, devices mounted in vehicles or the like are known that detect abnormalities in GPS data, as shown in International Patent Application WO2015/002223 and Chinese Patent Application CN104880722.

The hardware and software installed in the vehicles using such a system are often primitive, and are therefore easy to modify and alter. Accordingly, even if such a system includes functions such as user identification and automobile information registration, there are cases where the system identifies mobile devices, simulators, and the like that exchange information in the manner of a traveling automobile to be actual travelling automobiles. This “spoofing” causes instability in the operation of the system, and also causes a drop in the reliability of the system due to the modification or falsification of driving records.

BRIEF SUMMARY

An embodiment of the invention may include a method, computer program product and computer system for managing mobile objects. The embodiment may manage, by a first computing system, a plurality of mobile objects moving within a geographic space. Managing the plurality of mobile objects may assisting with movement of the plurality of mobile objects. The embodiment may determine whether a first mobile object among the plurality of mobile objects is a real mobile object based on a first sensor information received from the first mobile object. The embodiment may use information received from the first mobile object in managing the plurality of mobile objects moving within the geographic space based on determining that the first mobile object is the real mobile object. This may improve the stable operation and reliability of the system at a low cost, without using other mobile objects, apparatuses, or the like.

In a further embodiment may the first sensor information includes position information of the first mobile object detected by the first mobile object. This embodiment may judge whether the first mobile object is real by using the estimation error of the first sensor information, and may therefore be operable to easily introduce the system. This embodiment may judge whether the first mobile object is real by using the first sensor information of a sensor of the first mobile object, and may therefore be operable to improve the stable operation and reliability of the system at a low cost, without using other mobile objects, apparatuses, or the like.

A further embodiment may determine whether a first mobile object among the plurality of mobile objects is a real mobile object includes by determining whether the first mobile object is a real mobile object based on an estimation error of the first sensor information.

A further embodiment may determine an estimated position of the first mobile object by matching the position information of the first mobile object with geographic data. The further embodiment may determine whether a first mobile object among the plurality of mobile objects is a real mobile object by calculating the estimation error of the first sensor information from a position corresponding to the position information of the first mobile object and the estimated position. This embodiment may be operable to efficiently judge whether the first mobile object is real, using a map matching process performed by the system.

A further embodiment may acquire a normal error range associated with the position of the first mobile object. The further embodiment may determine that the first mobile object is not a real mobile object, on a condition that the estimation error of the first sensor information is outside the normal error range. This embodiment may use an estimation difference corresponding to the position of the first mobile object, and may therefore be operable to more accurately judge whether the first mobile object is real.

A further embodiment may store the normal error range for every position in the geographic space in a context database, based on an estimation error of position information detected by at least one mobile object among the plurality of mobile objects based on the at least one mobile object having moved in the geographic space. This embodiment may accumulate the normal error range corresponding to the position of the first mobile object in association with the position, and may therefore be operable to more accurately judge whether the first mobile object is real.

A further embodiment may store the normal error range for every position in the geographic space comprises independently storing information for each of at least one of: a type of the at least one mobile object, a model of the at least one mobile object, and a condition of the position. This embodiment may accumulate the normal error range corresponding to the position of the first mobile object in association with the position, and may therefore be operable to more accurately judge whether the first mobile object is real.

A further embodiment may determine whether a first mobile object among the plurality of mobile objects is a real mobile object by determining that the first mobile object is not a real mobile object in response to the position of the first mobile object overlapping at the same timing with a position of a second mobile object among the plurality of mobile objects.

A further embodiment may determine whether a first mobile object among the plurality of mobile objects is a real mobile object by determining whether the first mobile object is a real mobile object based on a result of a comparison between behavior of the first mobile object and behavior of a second mobile object positioned within a predetermined distance of and on the same route as the first mobile object among the plurality of mobile objects.

A further embodiment may determine whether a first mobile object among the plurality of mobile objects is a real mobile object by determining that the first mobile object is a real mobile object in response to the first mobile object being detected at a position corresponding to the position information of the first mobile object according to a sensor provided in the geographic space or in a second mobile object among the plurality of mobile objects.

A further embodiment may request that a second mobile object among the plurality of mobile objects check whether the first mobile object is present at a position corresponding to the position information of the first mobile object in response to a judgment that the first mobile object is possibly not a real mobile object. This embodiment may use sensor information differing from the sensor information output by a mobile object that has been judged as possibly not being real, and may therefore be operable to more accurately and more efficiently judge whether the first mobile object is real.

A further embodiment may perform information processing for each of the plurality of mobile objects comprising processing information for a second mobile object among the plurality of mobile objects while excluding a presence of the first mobile object, in response to the first mobile object being judged as not being real. This embodiment may excludes information concerning a mobile object that has been judged as being spoofed, and may therefore be operable to improve stability of the system.

A further embodiment may wherein the information processing includes performing information processing relating to mobile object agents corresponding respectively to the plurality of mobile objects.

A further embodiment may identify. whether the first mobile object is a virtual mobile object that has been registered in advance. The further embodiment may determine whether the first mobile object is a real mobile object based on determining that the first mobile object is identified as not being a virtual mobile object.

The summary clause does not necessarily describe all necessary features of the embodiments of the present invention. The present invention may also be a sub-combination of the features described above.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows a system 100 according to an embodiment of the present invention and a map area corresponding to a geographic space managed by the system 100.

FIG. 2 shows a subsystem 200 according to the embodiment of the present invention and a map area corresponding to a region A managed by the subsystem 200.

FIG. 3 shows a first exemplary configuration of the system 100 according to the present embodiment.

FIG. 4 shows management of events by the event server 210 and the mobile object server 220 according to one embodiment.

FIG. 5 shows management of mobile object by the mobile object server 220 and object server 230 according to one embodiment.

FIG. 6 shows an operational flow of an exemplary configuration of the system 100 according to the present embodiment.

FIG. 7 shows an operational flow of S620 according to the present embodiment.

FIG. 8 shows an operational flow of S650 according to the present embodiment.

FIG. 9 shows an illustrative example of an event list.

FIG. 10 shows an illustrative example of a candidate event list.

FIG. 11 shows an illustrative example of a notification event list.

FIG. 12 shows a mobile object 10 and events according to one embodiment.

FIG. 13 shows an operational flow of S660 according to the present embodiment.

FIG. 14 shows a second exemplary configuration of the system 100 according to the present embodiment.

FIG. 15 shows a third exemplary configuration of the system 100 according to the present embodiment.

FIG. 16 shows an exemplary configuration of a portion of the operational flow of the system 100 according to the present embodiment.

FIG. 17 shows a fourth exemplary configuration of the system 100 according to the resent embodiment.

FIG. 18 shows a computer according to an embodiment of the invention.

DETAILED DESCRIPTION

Embodiments of the present invention will now be described in detail with reference to the accompanying Figures.

Hereinafter, example embodiments of the present invention will be described. The example embodiments shall not limit the invention according to the claims, and the combinations of the features described in the embodiments are not necessarily essential to the invention.

FIG. 1 shows a system 100 and a map area corresponding to a geographic space managed by the system 100, according to an embodiment of the present invention. The system 100 manages a geographic space that includes routes on which a mobile object 10 moves. The system 100 is operable to divide the geographic space into a plurality of regions and manage these regions. A mobile object 10 may move on routes including land routes, sea routes, and/or air routes, for example. The geographic space may be land, sea, or air space that includes the routes on which the mobile object travels. The mobile objects 10 may be manned/unmanned automobiles, motorbikes, bicycles, humans having a digital device, airplanes, vessels, drones, or the like.

FIG. 1 shows an automobile as an example of the mobile object 10, which moves along roads as examples of land routes. The system 100 includes a plurality of subsystems 200 that respectively manage the plurality of regions. FIG. 1 shows an example in which the map area is divided into six regions from region A to region F, and six subsystems 200 respectively manage these six regions.

System 100 comprises a plurality of event servers 210, a plurality of mobile object servers 220, a plurality of object servers 230, and a plurality of passenger servers 240. According to the embodiment of FIG. 1, each of the subsystems 200 may include at least one of the plurality of event servers 210 and one of the plurality of mobile object servers 220.

The event server 210 manages events occurring in each region of the geographic space. In one embodiment, the event server 210 of subsystem 200 assigned to region A may manage events in region A. The plurality of mobile object servers 220 respectively assigned to a plurality of regions in a geographic space manage the mobile objects 10 in each of the plurality of regions. In one embodiment, the mobile object server 220 assigned to region A may manages mobile objects 10 located in region A. The object server 230 manages information of the mobile objects 10 regardless of the location of the mobile objects 10. The passenger server 240 manages information of at least one passenger riding on the mobile objects 10.

Each of the subsystems 200 may be implemented on one or more servers. In one embodiment, each event server 210 and mobile object server 220 may be implemented on one server. In one embodiment, a set of an event server 210 and a mobile object server 220 in a subsystem 200 may be implemented by one server. Portions of the system 100 other than the subsystems 200 may also be implemented on one or more servers. In one embodiment, each object server 230 and passenger server 240 may be implemented on one server. In another embodiment, a set of object servers 230 and a set of passenger servers 240 may be each implemented by one server. In yet another embodiment, all of the object servers 230 and the passenger servers 240 may be implemented on one server. These servers may exist at any point on a network including the Internet, a subscriber network, a cellular network, or a desired combination of networks. The servers may be computers or other types of data processors, and may be dedicated servers, or may be shared servers that perform other operations.

The system 100 acquires the positions of a mobile object 10 from the mobile object 10, and the mobile object server 220 managing the region that includes the acquired position of the mobile object 10 may manage the movement of this mobile object 10. The system 100 acquires information of events that have occurred to the mobile object 10 and/or on the road outside, and the event server 210 managing the region including the position where such an event has occurred may manage the state of the event.

This event may include information about accidents, obstructions, closure, limitation, status, or construction on the road, or information about the weather, temperature, buildings, shops, or parking lots near the road. In response to a setting or a request from the mobile object 10, the subsystem 200 may provide notification about the event information to the mobile object 10 that made the request. For example, if the mobile object 10 is moving on a route in a geographical area corresponding to region A, then the mobile object sever 220 managing region A provides this mobile object 10 with the notification about the event relating to the route.

Since the map area is divided into a plurality of regions, despite the mobile object 10 simply moving on a route, the region corresponding to the position of the mobile object 10 might change. FIG. 1 shows an example in which the mobile object 10 is driving on a road such that the position of the mobile object 10 moves from region A to region B on the regions. In this case, according to the movement of the mobile object 10, the system 100 may transfer the information concerning the mobile object 10 from the mobile object server 220 managing region A to the mobile object server 220 managing region B, and may also transfer the management of the mobile object 10 to the mobile object server 220 managing region B.

FIG. 2 shows a subsystem 200 and a map area corresponding to a region A managed by the subsystem 200, according to an embodiment of the present invention. The event server 210 manages at least one event agent, and executes each event agent to manage events on routes in a region assigned to the event server 210. An “agent” may be a software entity having specific data, and may operable to receive a message (e.g. command), and return a result of the message. Each region of the plurality of regions of geographic space includes at least a portion of one area of the plurality of areas. In this embodiment, the region assigned to the event server 210 is the same as the region assigned to the mobile object server 220. However, in other embodiments, these regions may be different.

In the embodiment of FIG. 2, the region A, which is the region assigned to the event server 210, is divided into 16 areas and 16 areas are assigned to each of the event agents EA1-EA16. The event server 210 executes each of the event agents EA1-EA16 to manage events occurring on routes of each area of region A. For example, the event agent EA2 may manage a “closure” event on an area corresponding to EA2 on the map, and the event agent EA4 may manage a “speed limit” event on an area corresponding to EA4 as shown in FIG. 2.

The plurality of mobile object servers 220 may include at least one mobile object server 220 including one or more mobile object agents, each of which is assigned to each of the mobile objects 10. In the embodiment of FIG. 2, the mobile object server 220 includes three mobile object agents MOAs 1-3 assigned to three mobile objects 10 in the assigned region A. The mobile object server 220 executes each of the mobile object agents MOA1-MOA3 to manage the mobile objects 10 traveling on the region A.

FIG. 3 shows an exemplary configuration of the system 100, according to an embodiment of the present invention. The system 100 may be operable to communicate with each of a plurality of mobile objects 10 to send and receive the information used to manage the mobile objects 10. The system 100 may be operable to acquire map data and/or information exchanged with the mobile objects 10, through the Internet, a subscriber network, a cellular network, or any desired combination of networks. The system 100 includes an acquiring section 110, a dividing section 130, a region manager 140, a receiving section 150, a transmitting section 152, a gateway apparatus 160, a plurality of subsystems 200, a plurality of object servers 230, and a plurality of passenger servers 240.

The acquiring section 110 may be operable to acquire map data corresponding to the geographical areas where a mobile object 10 is positioned, from an external database 30, for example. In response to the map being updated, the acquiring section 110 may acquire some or all of the updated map data. The acquiring section 110 may be operable to acquire the map data from the Internet, a subscriber network, a cellular network, or any desired combination of networks. The system 100 may be operable to store the map data in advance.

The acquiring section 110 may further acquire an event that has occurred within the geographic space to be managed by the system 100. In this case, the acquiring section 110 may acquire, accident information, traffic information, weather information, time information, etc.

The dividing section 130 may be operable to communicate with the acquiring section 110 and divide the map area into a plurality of regions. In this embodiment, the dividing section 130 generates two groups of regions by dividing an original map area into a plurality of regions.

The region manager 140 may be operable to store information concerning the plurality of regions including the regions resulting from the division. The region manager 140 may be operable to specify the subsystem 200 managing the region that includes the position of the mobile object 10, in response to receiving the position of the mobile object 10. The region manager 140 may be implemented on one or more servers. The region manager 140 includes an storage section 142 and a determining section 146.

The storage section 142 may be operable to communicate with the dividing section 130 and store information concerning the plurality of first regions and the plurality of second regions resulting from the division by the dividing section 130. The storage section 142 may store setting values or the like of the system 100.

The storage section 142 may store intermediate data, calculation results, threshold values, parameters, and the like that are generated by or used in the operations of the system 100. In response to a request from any component within the system 100, the storage section 142 may supply the data stored therein to the component making the request. The storage section 142 may be a computer readable storage medium such as an electric storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, or a semiconductor storage device.

The determining section 146 may be operable to communicate with the storage section 142, and determine one region from the plurality of regions (e.g., regions A-F of FIG. 1) in which each of the mobile objects 10 is located based on the position information of the mobile object 10 and geographic information of the plurality of regions. The determining section 146 may identify a route or position in the map area managed by the system 100 that corresponds to the position information of the mobile object 10.

The determining section 146 may store the position information of this mobile object 10 and/or information of the determined region in the storage section 142, in association with this mobile object 10. The determining section 146 may store a history of the position information of this mobile object 10 and/or a history of the determined mobile object server 220 in the storage section 142. The determining section 146 may be a circuit, a shared or dedicated computer readable medium storing computer readable program instructions executable by a shared or dedicated processor, etc.

The receiving section 150 may be operable to receive information transmitted from each of a plurality of mobile objects 10. Each mobile object 10 may transmit information at designated time intervals, and the receiving section 150 may sequentially receive this transmitted information. In this embodiment, the receiving section 150 may receive car probe data from each mobile object 10 as the information. The car probe data may include information detected by the mobile object 10, such as position information of the mobile object 10.

In one embodiment, the position information may include longitude and latitude (and optionally altitude information) of the mobile object 10 in an absolute coordinate system. In another embodiment, the mobile object 10 may determine its location in the absolute coordinate system by using GPS, and the determining section 146 receiving the position information may determine a route on which the mobile object 10 exists and a specific location of the route at which the mobile object 10 exists based on the position information. Alternatively, the mobile object 10 may include such detailed position information in the car probe data.

The receiving section 150 may communicate with the plurality of mobile objects 10 and receive the car probe data of each mobile object 10, via the Internet 40. The receiving section 150 may receive the car probe data of the plurality of mobile objects 10 through wireless communication, a subscriber network, a cellular network, or any desired combination of networks.

The transmitting section 152 may be operable to transmit event information to each of the mobile objects 10 according to settings, for example. The transmitting section 152 may transmit information concerning the route on which the mobile object 10 is expected to travel. The transmitting section 152 may communicate with the mobile objects 10 and transmit each type of information to the mobile objects 10 via the Internet 40. The transmitting section 152 may transmit each type of information to the mobile objects 10 through wireless communication, a subscriber network, a cellular network, or any desired combination of networks.

The gateway apparatus 160 may be operable to transfer communication between the plurality of subsystems 200 and the plurality of mobile objects 10. The gateway apparatus 160 may communicate with the receiving section 150 and receive the information transmitted by each mobile object 10.

The gateway apparatus 160 may communicate with the region manager 140 and demand the transfer destination for each piece of information received from the mobile objects 10, of the region manager 140. In response to this request, the gateway apparatus 160 may receive from the region manager 140 the information of the subsystem 200 managing the region on which the mobile object 10 exists. The gateway apparatus 160 may transfer the information received from the mobile object 10 to the subsystem 200 that is to manage the mobile object 10. In other words, the gateway apparatus 160 may transfer the information received from each mobile object 10 to the subsystem 200 determined by the region manager 140.

The gateway apparatus 160 may communicate with each of the subsystems 200, and receive the information transmitted by each subsystem 200. The gateway apparatus 160 may communicate with the transmitting section 152 and supply the transmitting section 152 with the information received from each subsystem 200, such that this information is transferred to the mobile objects 10 designated for each subsystem 200.

The gateway apparatus 160 may include a plurality of gateway devices, and may quickly perform transfer between the plurality of subsystems 200 and the plurality of mobile objects 10. In this case, the receiving section 150 may function as a load balancer that supplies the information from the mobile objects 10, such that the load is spread among the plurality of gateways. The load balancer may sequentially supply information from the mobile objects 10 to the gateways having lighter loads. The gateway apparatus 160 may be a network that provides a connection between a plurality of networks using the same or different types of protocols.

A plurality of subsystems 200 may be operable to communicate with the region manager 140 and the gateway apparatus 160 and to respectively manage a plurality of regions in a geographic space. Each subsystem 200 is operable to manage mobile objects 10 that travel routes in its managing region and to manage events on its managing region.

As described, each subsystem 200 may include the event server 210 and the mobile object server 220. The event server 210 manages events occurring on its managing region with the plurality of the event agents. In one embodiment, the event server 210 may perform, through the event agent, (i) registration, update and/or deletion of events, (ii) registration, update and/or deletion of candidate events, and (iii) provision of event information.

The mobile object server 220 manages the plurality of the mobile objects 10 traveling on its managing region with the plurality of the mobile object agents. In one embodiment, the mobile object server 220 may perform, through the mobile object agent, (i) processing of the car probe data, (ii) update of information of the mobile object, and (iii) provision of information to the mobile object. For example, the mobile object server 220 may execute the mobile object agent to collect information of events from at least one event server 210, and provide the mobile object 10 with information that assists the mobile object 10 with traveling in the geographic space.

A plurality of object servers 230 including at least one object server 230 may communicate with the gate way 160 and include an object agent (OA) containing information of the mobile object 10. An object agent may correspond to each mobile object 10 and contain information thereof. In one embodiment, the object agent may contain (i) information, by region, of which subsystem currently manages a mobile object agent of the mobile object 10, (ii) an identification (ID) of the mobile object 10, (iii) an ID of a passenger of the mobile object 10, and (iv) a characteristic of the mobile object 10 (e.g., model/version information, width, length, and/or height of the mobile object 10).

The object server 230 may perform, through the object agent, (i) provision and/or update of information of the mobile object 10, (ii) registration, update, and/or deletion of the ID of passenger riding on the mobile object 10, (iii) provision and/or update of the information of the region of the mobile object 10, and (iv) provision of information needed for generation of a new mobile object agent by the mobile object server 220.

At least one passenger server 240 of a plurality of passenger servers may communicate with the gateway apparatus 160, and include a passenger agent that contains information of at least one passenger. A passenger agent may correspond to each passenger or candidate passenger of mobile objects 10, and contain information thereof. In one embodiment, the object agent may contain an ID of a passenger and a characteristic of the passenger (e.g., information of age, gender, type, and the like of license of the passenger). The passenger server 240 may perform, through the passenger agent, provision and/or update of information of the passengers.

As described above, the system 100 of the present embodiment may manage the mobile objects by utilizing the mobile object agents in each mobile object server 220, and manage the events by utilizing the event agent in each event server 210. According to the system 100 of the embodiment, the system 100 can separately manage information relating to the mobile objects 10 and events on the geographic map with a plurality of kinds of servers. Furthermore, the plurality of mobile object servers 220 can smoothly transfer the management of the mobile objects 10 traveling across the regions via the mobile object agents, thereby improving the efficiency of the whole system 100. In addition, according to the system 100 of the embodiment, each event server 210 divides event management in one region among the plurality of event agents and provides the mobile object agent with event information, thereby improving the efficiency of event management in the region (e.g., improving response time of event search) and thus event notification to the mobile objects 10. In addition, the system 100 can provide the mobile object agent with information of mobile object 10 by the object agent of the object server 230. The system 100 can also provide the mobile object agent with information of passengers of the mobile objects 10 by the passenger agent of the passenger server 240.

FIG. 4 shows management of events by the event server 210 and the mobile object server 220, according to an embodiment of the present invention. In this embodiment, a mobile object 10 is traveling on a target route on region A and transmitting a car probe data including the position information to the event server 210 managing region A with the car probe data via a gateway apparatus, such as the gateway apparatus 160. The event server 210 manages event information through each event agent based on the car probe data from the mobile objects on region A. For example, each event agent may manage an event list (containing information of an event and an influence event for routes on the area managed by the event agent) and a candidate event list (containing information of candidates of an event for routes on the area managed by the event agent).

In the embodiment of FIG. 4, the event agent EA2 manages events of an area (indicated as “DA2” on the region A of FIG. 4) by the event list of the event agent EA2 and the candidate event list of the event agent EA2 based on car probe data from the mobile object 10 on the area DA2. For example, the event agent EA2 assigned to the area DA2 is executable to generate an event based on the information from the mobile object 10.

In one embodiment, each mobile object server 220 is operable to receive information from the mobile object 10 in the region A assigned to the mobile object server 220. The mobile object server 220 determines the target route where the mobile object 10 is located. The mobile object server 220 sends the information to one event server 210 assigned to a region A where the mobile object 10 is located, and thereby requests the event agent EA2 assigned to the area DA2 where the target route is located to send an event list containing information of an event on the target route and the influence event of the target route.

The mobile object server 220 executes the mobile object agent MOA1 for the mobile object 10 to provide the mobile object 10 with information that assists the mobile object 10 with traveling in the area DA2 based on the information of the event on the other route and the influence event of the target route. In the embodiment of FIG. 4, the mobile object agent MOA1 receives, from the event agent EA2, the event information of the route on which the mobile object 10 exists, and provides the mobile object 10 with the event information (e.g., information of closure).

FIG. 5 shows management of a mobile object 10 by the mobile object servers 220 and object server 230, according to an embodiment of the present invention. The mobile object server 220-1 may transfer the mobile object agent to the mobile object server 220-2 assigned to a neighboring region in response to the mobile object 10 moving to the neighboring region. In this embodiment, in response to a mobile object 10 traveling from region A to region B, the mobile object server 220-1 managing region A deletes the mobile object agent MOA for the mobile object 10, and a mobile object server 220-2 managing region B generates a mobile object agent MOA for the mobile object 10.

In this embodiment, the object agent 230 may store information that includes a mobile object server identifier MOS-ID that identifies one of the plurality of mobile object servers 220 executing the mobile object agent corresponding to the object agent 230. Just after the mobile object 10 arrives at region B, the mobile object server 220-2 has not been executing the mobile object agent for the mobile object 10. The mobile object server 220-2 is operable to receive information from the mobile object 10 in the region B assigned to the mobile object server 220-2.

Using the information from the mobile object 10, the mobile object server 220-2 obtains the mobile object server identifier MOS-ID from the object server 230 that manages the object agent for the mobile object 10 because the mobile object server 220-2 is not executing the mobile object agent for the mobile object 10. The mobile object server 220-2 requests a mobile object server 220-1 identified by the mobile object server identifier MOS-ID to transfer the mobile object agent for the mobile object 10. Then the mobile object server 220-1 managing region A transfers the mobile object agent to the mobile object server 220-2 assigned to a neighboring region B in response to the request.

FIG. 6 shows an operational flow of a system, according to an embodiment of the present invention. The present embodiment describes an example in which the system 100 performs the operations from S610 to S680 shown in FIG. 6 to manage mobile objects, such as mobile object 10, and events on a map area. FIG. 6 shows one example of the operational flow of the system 100 shown in FIGS. 1-5, but the system 100 shown in FIGS. 1-5 is not limited to using this operational flows explained below. Also, the operational flow in FIG. 6 may be performed by other systems.

First, an acquiring section, such as the acquiring section 110, may acquire the map data of the geographic space to be managed by the system (S610). The acquiring section may acquire map data of a geographic space that includes one or more cities, one or more towns, and the like. The acquiring section may include map data of a geographic space including one or more states, countries, continents, etc. A dividing section, such as the dividing section 130, may divide the map area to generate a plurality of regions.

Next, the system may perform an initialization process for the mobile object (S620). The system may perform the process of S620 if a user (passenger) initializes a setting of a mobile object and any passengers of the mobile object, before starting to drive the mobile object.

After S620, a gateway apparatus, such as the gateway apparatus 160, of the system may acquire a car probe data from the mobile object (S630). Although the system may acquire the car probe data from the plurality of the mobile objects, the system acquiring a car probe data from one mobile object (which, may be referred to as “a target mobile object”) is explained in the below description. The car probe data may include information detected by the target mobile object, such as current position information of the target mobile object, a speed and/or direction of the target mobile object, and event information observed by the target mobile object (e.g., occurrence of ABS, detection of obstacles, or the like). In one embodiment, the position information may include an edge ID of an edge on which the target mobile object exists and the distance between the current location of the target mobile object and the one end of the edge.

Next, the gateway apparatus may determine a region on which the target mobile object is traveling based on the position information of the car probe data of the target mobile object (S640). In one embodiment, the gateway apparatus may inquire a region manager, such as the region manager 140, about the region on which the mobile object exists. A determining section, such as the determining section 146, of the region manager may determine the region the target mobile object and provide the gateway apparatus with the information of the region of the target mobile object. The gateway apparatus may provide an event server, such as the event server 210, that manages the determined region and a mobile object server, such as the mobile object server 220, that manages the determined region with the car probe data.

Next, the event server that is provided with the car probe data of the target mobile object may process events for the mobile objects (S650). The event server may manage event information based on the car probe data for notification of events to the target mobile object.

After S650, the mobile object server that is provided with the car probe data of the target mobile object may manage a mobile object agent for the target mobile object (S660).

After S660, the system determines whether to end the process for the target mobile object. In one embodiment, the gateway apparatus may determine whether the car probe date indicates the engine stop of the target mobile object. If the system determines not to end the process, then the system proceeds with the process of S630 for the target mobile object. If the system determines to end the process, then the system ends the process for the target mobile object, and may continue the process for other mobile objects.

As described above, the system manages mobile objects by utilizing mobile object agents realized by the plurality of the mobile object servers. Since the system can transfer the mobile object agent between the mobile object servers, it can efficiently manage the mobile objects traveling around the plurality of regions. Furthermore, the system collects car probe data from the mobile objects and manages events generated from the car probe data by utilizing the event agents. Since each event server divides a number of events occurring on its managing regions into a plurality of areas by utilizing the event agents, it can efficiently handle event information.

The process of S610 may be performed once before starting processes S620-S680. The process of S620-S680 may be performed for every mobile object.

FIG. 7 shows an operational flow of an initialization process for a mobile object, according to an embodiment of the present invention. The present embodiment describes an example in which the system performs an initialization process, such as the initialization process of S620 of FIG. 6, through processes S621 to S623 shown in FIG. 7.

First, a gateway apparatus receives a setting data (including an ID of the mobile object, an ID(s) of passenger(s) and position information of the mobile object) from the mobile object (S621). The gateway apparatus determines one mobile object server that manages the mobile object based on the position information of the mobile object. The gateway apparatus provides the determined mobile object server with the setting data. Then, the determined mobile object server obtains information (e.g., ID(s) of the passenger(s)) of at least one passenger of the mobile object from the setting data of the mobile object.

Then, the mobile object server may request the object agent of the object server for the mobile object to store the information of the at least one passenger of the mobile object (S622). For example, each mobile object may be mapped to each object agent of the object servers based on values of the IDs of the mobile objects, and the mobile object server may identify one object agent corresponding to the ID of the mobile object based on the calculation using the ID. Then, the mobile object server may provide the object server managing the identified object agent with the setting data including the position information, the ID of the mobile object, and ID(s) of passenger(s) of the mobile object via the gateway apparatus.

Next, the object server stores the information of passenger(s) on an object agent. In one embodiment, each of passengers may be preliminarily mapped to each of the passenger servers based on values of the IDs of passengers, and the passenger servers may have information of passengers. The object server may identify one passenger server corresponding to the ID of a passenger based on the calculation using the ID. The object server may receive, via the gateway apparatus, the information of passengers from the passenger server corresponding to the ID. Then, the object server may store or update the information of the mobile object and the passengers of the mobile object, in the object agent for the mobile object. The object server may include the information of a region that the mobile object currently exists, in the object agent.

Next, the mobile object server 220 managing the region in which the mobile object 10 exists generates a new mobile object agent for the mobile object 10 (S623). In one embodiment, the mobile object server 220 may copy the information of the object agent for the mobile object 10 to the newly generated mobile object agent. For example, the mobile object server 220 may store the information of the mobile object 10 and the information of the at least one passenger of the mobile object 10 in the newly generated mobile object agent for the mobile object 10.

FIG. 8 shows an operational flow of event processing, according to an embodiment of the present invention. The present embodiment describes an example in which the system performs event processing, such as the event processing of S650 of FIG. 6, through processes S651 to S659 shown in FIG. 8.

First, the event server may identify an event agent (S651). In one embodiment, the event sever determines one event agent from the plurality of event agents based on the position information of the target mobile object. The determined event agent may be referred to as “target event agent.” For example, the event server determines a target route (or an edge of the map data) of the target mobile object based on the position information and the map data, and selects, as a target event agent, an event agent that manages an area including the target route of the target mobile object indicated by the car probe data. In another embodiment, the car probe data of a target mobile object may include the information of the target route of the target mobile object.

Next, the event server may edit event lists by the target event agent based on the car probe data (S652). In one embodiment, the target event agent may generate or update information of events (e.g., an edge that an event occurs, an event ID, a location of an event, and content of event) of the target route on the event list based on information of the car probe data. The event of the target route may be referred to as a “target event.”

Next, the event server may search, by the target event agent, an influence event on the target route on the area of the target event agent based on the car probe data (S653). The influence event of the target route relates to an event on another route within a threshold distance (e.g., a threshold travelling distance of the target route, a threshold number of edges away from the target route, and/or a threshold travelling time from the target route).

In one embodiment, the target event agent itself may search routes (or edge IDs) apart from the target route within the threshold distance based on the topology information of routes in the regions, or may request other entities (e.g., a server) to search for routes (or edge IDs).

Next, the event server may determine whether the event list of the target event agent includes event entries corresponding to all influence events of the target route searched at S653 (S654). In one embodiment, the target event agent determines whether edges of the influence events are listed as edge IDs of events in the event list.

If an area managed by a target event agent includes the routes (edges) of all influence events relating to an event, then an event list of the target event agent includes corresponding event entries of all influence events. However, if the routes (edges) of any influence events are managed by other event agents, then the event list may not include corresponding event entries of all influence events. If the decision is positive, then the event server proceeds with the process S655 and if negative, the event server proceeds with the process S656.

At S655, the event server may edit a notification event ID list by the target event agent. The notification event ID list includes IDs of influence events and edge IDs of the influence events that are determined to be not included in the event list of the target event agent at S654. In other words, the notification event ID list is a list of event IDs of influence events that are not managed by the target event agent. Then, the event server may proceed with the process of S656.

At S656, the event server may edit a notification event list for the target mobile object, by the target event agent. The notification event list is a list of events that may be helpful to the target mobile object traveling on the target route. The notification event list may include target events and influence events of the target events. The target event agent may add entries of the target events and the influence events in its managing event list for notification.

Next, the event server determines, by the target event agent, whether the notification event ID list has at least one entry. If the decision is positive, then the event server proceeds with the process of S658, and if negative, then the event server ends the process of S650

At S658, the event server may identify, by the target event agent, an event agent that manages an event list including events in the notification event ID list. The determined event agent may be referred to as “remote event agent.”

Next, the event server may acquire information of events in the notification event ID list (S659), and end the process S650. In one embodiment, the target event agent may receive information of events in the notification event ID list from the remote event agent, and edit the notification event list based on the acquired information. In another embodiment, the target event agent may add entries of the influence events in the notification event ID list based on the acquired information.

FIG. 9 shows an illustrative example of an event list, according to an embodiment of the present invention. As described in FIG. 9, the event list may include edge IDs of events, event IDs of events, locations of events, specific contents of events, and influence events relating to events. In this embodiment, each route is represented as “edge.” For example, this event list indicates that an event (identified as “Eve 0214”) has occurred along the full length of edge 0001 on the area, that the event has limited the speed to 30 km/h, and that edge 0001 includes an influence event identified as “Eve 0114.” The event list also indicates that an event (identified as “Eve 0114” on edge 0002) has occurred 32 m from the 1st node on edge 0002 on the area, that the event is a closure of a route, and that edge 0001 includes influence events identified as “Eve 0214” on edge 0001, “Eve 0421” on edge 0003, etc. In one embodiment, the target event agent may add a new entry corresponding to an event detected by the car probe data, in the event list.

According to the first entry in the event list of FIG. 9, the edge 0001 has influence event Eve 0114. This may mean that a mobile object traveling on the edge 0001 is influenced by the event Eve 0114 that has occurred apart from edge 0001 within a threshold distance. In response to receiving the car probe data including the position information indicating that the target mobile object is traveling on the edge 0001, the target event agent searches and obtains routes (edge IDs) apart from the target route (edge 0001) within the threshold distance, and then finds neighboring edge 0002 as a result. In response to receiving the car probe data including the position information of the edge 0001, the target event agent determines whether the edge of influence event (edge 0002) corresponding to the target route is listed as edge IDs in the event list.

The target event agent assigned to the area may generate or update a candidate event based on information from the target mobile object. In one embodiment, the target event agent may generate or update candidate events on the candidate event list including information of a plurality of edges on the area of the event agent based on information of the car probe data.

Although the event list of FIG. 9 includes information of influence events, the information of the influence events may be managed by another list. In one embodiment, the event agent may manage both a first event list containing information of an event on the target route and a second event list containing information of the influence event.

FIG. 10 shows an illustrative example of a candidate event list, according to an embodiment of the present invention. As described in FIG. 10, the event list may include edge IDs of candidate events, counts of detecting candidate events, locations of candidate events, and specific contents of candidate events for each candidate event. For example, this candidate event list indicates that evidence of an event (congestion) has been observed twice along the full length of edge 0009 on the area, and that evidence of an event (skid) has been observed once at a point 15 m from the 2nd node on edge 0013 on the area.

The target event agent may determine whether to change a candidate event in the candidate event list to an event in the event list. In one embodiment, the target event agent may upgrade the candidate event to the event based on information from other mobile objects. In this case, the target event agent counts occurrences of a candidate event observed by a plurality of mobile objects (including the target mobile object and other mobile objects). If the count of a candidate event exceeds a threshold value, then the target event agent determines that the candidate event is upgraded to an event. In one embodiment, in response to the upgrade, the target event agent deletes the entry of the candidate event from the candidate event list, and generates a new entry of an event corresponding to the deleted candidate event. The event servers may set the same or different criteria for upgrading candidate events among the plurality of event agents.

FIG. 11 shows an illustrative example of a notification event list, according to an embodiment of the present invention. As described in FIG. 11, the notification event list may include edge IDs of target/influence events, event IDs of target/influence events, locations of target/influence events, and specific contents of target/influence events. For example, this notification event list indicates that an event (speed limit) has occurred along the full length of edge 0001 on the area, and that an event (closure) has occurred at a point 32 m from the 1st node on edge 0002 on the area.

FIG. 12 shows a mobile object and events, according to an embodiment of the present invention. In the embodiment of FIG. 12, the target mobile object 10 is traveling eastbound on the edge 0001, which is the target route. The target event agent EA1 manages an area including the edge 0001, the edge 0002, the edge 0101, and the edge 0102, and the neighboring event agent EA2 manages an area including the edge 0003, the edge 0103, and the edge 0104.

Direction dependent edges are described in FIG. 12. However, edges may not be direction dependent according other embodiments, and in such embodiments, the event agent may manage events, candidate events, and influence events with direction information. The target event agent EA1 manages an event (Eve 0214) on the edge 0001 as the target event in the event list. Since the edge 0002 is apart from the edge 0001 within the threshold distance, the target event agent EA1 also manages an event (Eve 0114) on the edge 0002 as an influence event in the event list. The target event agent EA1 manages a notification event list including the target event (Eve0214) and the influence event (Eve 0114) for the target mobile object 10.

In the embodiment of FIG. 12, the mobile object agent managing target mobile object requests the event agent EA1 that manages the target event (e.g., Eve 0214) and the influence event (e.g., Eve 0114) to send the notification event list including the target event and the influence event. In another embodiment, the mobile object agent may request the remote event agent EA2 that manages the information of influence event(s) (e.g., Eve0421) to send a notification event list containing information of the influence event(s) if the influence event is located outside of the area including the target route (Edge 0001).

FIG. 13 shows an operational flow of mobile object processing, according to an embodiment of the present invention. The present embodiment describes an example in which the system manages the target mobile object, such as in S660 of FIG. 6, through processes S661 to S669 shown in FIG. 13.

At S661, the mobile object server may determine whether the mobile object agent for the target mobile object exists in the region determined to be the region of the mobile object, such as the region determined at S640. In other words, the mobile object server determines whether the mobile object server manages the mobile object agent of the target mobile object. If the decision is positive, then the mobile object server proceeds with the process S667, and if negative, the mobile object server proceeds with the process S662.

At S662, the mobile object server may identify an object server that includes the object agent containing the information of the target mobile object. In one embodiment, the mobile object server may identify the object server in the same manner described in S622.

Next, at S663, the mobile object server may inquire the object server 230 identified at S662 for the location of the mobile object agent of the target mobile object. The object server may refer to the object agent of the target mobile object, obtain information of the mobile object server that currently manages the mobile object agent MOA of the target mobile object, if it exists, and provide the mobile object server with the information.

Next, the mobile object server may determine whether the mobile object agent for the target mobile object exists in any other regions. In other words, the mobile object server may determine which mobile object server manages the mobile object agent for the target mobile object from the plurality of mobile object servers managing other regions, at S663. If the decision is positive, then the mobile object server proceeds with the process S666, and if negative the mobile object server proceeds with the process S665.

At S665, the mobile object server generates a new mobile object agent MOA for the target mobile object. The mobile object server may generate the mobile object agent MOA for the target mobile object by obtaining information of the target mobile object from the object server that includes the object agent containing the information of the target mobile object. In one embodiment, the mobile object server may generate the new mobile object agent in the same manner described in S623. The mobile object server may also communicate with the object server via the gateway apparatus, and register the current region of the target mobile object in the object agent corresponding to the target mobile object. By generating the new mobile object agent, the system can handle a new mobile object 10 that has been not managed by the mobile object server.

At S666, the mobile object server may transfer the mobile object agent from the other mobile object server determined to manage the mobile object agent for the target mobile object at S664. In one embodiment, the mobile object server may receive information of the mobile object agent for the target mobile object from the other mobile object server, and generate a new mobile object agent including the received information. The mobile object server may also communicate with the object server via the gateway apparatus, and register the current region of the target mobile object in the object agent of the target mobile object.

Next, at S667, the mobile object server may receive a notification event list for the target mobile object. In one embodiment, the mobile object server first determines the target route where the target mobile object is located. Then, the mobile object server may request the event agent that manages the information of target event(s) and influence event(s) corresponding to the target route to send a notification event list containing information of the target event(s) and influence event(s) of the target route.

At S668, the mobile object server may update the current location of the target mobile object by the mobile object agent. In one embodiment, the mobile object agent for the target mobile object updates the current location of the target mobile object based on the position information of the car probe data.

At S669, the mobile object server may execute the mobile object agent for the target mobile object to provide the target mobile object with information that assists the target mobile object with traveling in the geographic space based on the information included in the event list. In one embodiment, the mobile object agent may provide the target mobile object with information of events on the notification event list.

In one embodiment, the at least one mobile object server may execute the mobile object agent for the target mobile object to provide the target mobile object with information that assists the target mobile object with traveling in the geographic space based on the information of the at least one passenger of the target mobile object. For example, the mobile object agent may provide the target mobile object with an alert, a notice, and/or an action list relating events on the notification event list depending on a number of passengers (e.g., for guiding a car pool lane), the age, gender, license, real time information (e.g., driving history or sleep history), and characteristics of the passengers.

The action list is a list of actions recommended to passengers in response to the events (e.g., braking, accelerating, and/or steering of the target mobile object).

The action list may include commands to the target mobile object for automatic driving and/or driving assist. In one embodiment, the mobile object agent may include information that the passenger is sensitive to rough driving, and then the mobile object agent may provide commands to gently drive the target mobile object. In one embodiment, the mobile object agent may include information of driving skill of a driver passenger, and then provide different commands depending on the skill of the driver. The mobile object server may provide the target mobile object with the information via the gateway apparatus.

As described above, the mobile object server receives information from the target mobile object in the region assigned to the mobile object server, and generates the mobile object agent for the target mobile object if there is no mobile object server among the plurality of mobile object servers that is executing the mobile object agent.

FIG. 14 shows an exemplary configuration of the system 100, according to an embodiment of the present invention. In this embodiment, each subsystem 200 includes an event server 210, mobile object server 220, an object server 230, and a passenger server 240. However, other embodiments are also possible, in which each subsystem 200 comprises any combination of singles or multiples of each server. In other embodiments, the system 100 may manage allocation of object agents of the object server 230 and passenger agents of the passenger server 240 in the subsystem 200. For example, the gateway apparatus 160 may change allocation of the object/passenger agents to the subsystems 200 to rectify the imbalance of data processing loads among the subsystems 200.

In the embodiment described above, the event server 210 may manage allocated event agents. In other embodiments, the system 100 may manage allocation of event agents to the event servers 210. For example, the gateway apparatus 160 may change allocation of event agents to the event servers 210 to rectify the imbalance of loads of processing events among the event servers 210. In the embodiment described above, the event server 210 causes each event agent to manage allocated divided area derived from a region. In other embodiment, the event server 210 causes at least one event agent to manage specific information regarding events (e.g., cross section of roads or other specific function(s) of a map, or, hurricane or other disaster/accident).

As described above, the system 100 according to the present embodiment may be operable to assist with the movement of a plurality of mobile objects in a geographic space. Here, there are cases where the information received by the receiving section 150 includes not only information concerning the mobile objects 10 actually traveling on the road, but also information concerning virtual mobile objects indicating the presence of mobile objects 10. The hardware and software installed in the mobile objects 10 are often primitive, and there is also hardware and software with specifications that are made public according to certain standards. Accordingly, by altering or modifying such hardware and software, there are cases where it is possible to configure a spoofed mobile device, simulation, or the like that transmits and receives data from travelling automobiles.

Even if the system 100 has functions such as user identification and registration of automobile information, there are cases where such spoofed information is identified as information of an automobile that is actually travelling. In such a case, the system 100 performs the assistance and traffic control while referencing this “spoofed” information and “virtual mobile object” information, and therefore there are cases where the instructions that are output do not match the actual traffic conditions. Furthermore, when there is a large amount of this spoofed information or the like, the number of calculation processes increases and the system 100 becomes unable to efficiently perform processing. Yet further, the driving record, traffic condition record, and the like that are compiled by the system 100 are modified and altered, thereby reducing the stability and reliability of the system.

Therefore, the system 100 according to the present embodiment may be operable to easily detect such spoofed information and virtual mobile object information, to prevent a reduction in the stability and reliability of the system 100. The following describes such a system 100.

FIG. 15 shows a third exemplary configuration of the system 100 according to the present embodiment. In the system 100 according to the present embodiment, components that have substantially the same operation as components in the system 100 according to the embodiment shown in FIG. 3 and FIG. 14 are given the same reference numerals and descriptions thereof are omitted. In the present embodiment, a mobile object that is a target of a judgment by the system 100 concerning whether the mobile object is spoofed, among a plurality of mobile objects 10, is set as a first mobile object 12. The first mobile object 12 that is the target of this judgment is not limited to one mobile object, and there can be a plurality of judgment targets.

The first mobile object 12 may be a mobile object that is newly registered in the system 100. Furthermore, the first mobile object 12 may be a mobile object that has caused a traffic violation or the like at least a reference number of times while travelling. The first mobile object 12 may be a mobile object that has received notification of an abnormality or the like from another mobile object 10. The first mobile object 12 may be a mobile object for which the communication with the system 100 has become temporarily or consistently unstable. The first mobile object 12 may be a mobile object that has been judged by the system 100 in the past to have a high probability of being spoofed. The first mobile object 12 may be a mobile object selected randomly by the system 100 from among a plurality of mobile objects 10. The first mobile object 12 may be a mobile object that the system 100 extracts periodically from among a plurality of mobile objects 10.

The subsystems 200 according to the present embodiment judges whether the first mobile object 12 is spoofed, while managing a plurality of mobile objects 10 in a geographic space to be managed. In the present embodiment, the mobile object server 220 of each subsystem 200 further includes an acquiring section 310, an estimating section 320, a storage section 330, a judging section 340, and an information processing section 350.

The acquiring section 310 may be operable to acquire information relating to the first mobile object 12. The acquiring section 310 may be operable to acquire information received by the system 100 from the first mobile object 12. The acquiring section 310 acquires first sensor information detected by a sensor of the first mobile object 12, for example. The first sensor information may include position information of this first mobile object 12 detected by the first mobile object 12. In the present embodiment, an example is described in which the first sensor information is a GPS signal received by the first mobile object 12 from a GPS satellite. Specifically, if the first mobile object 12 is spoofed, the first mobile object 12 generates a GPS signal that is a plausible fake, and transmits this GPS signal to the system 100.

The acquiring section 310 may acquire information relating to the first mobile object 12 stored in the storage section 330. For example, the acquiring section 310 may acquire information of a sensor or the like mounted in the first mobile object 12, information concerning the position where the first mobile object 12 is moving, and the like. The acquiring section 310 may acquire error information of the sensor mounted in the first mobile object 12. For example, the acquiring section 310 acquires an error range in the specifications of the sensor as a reference error range. The acquiring section 310 may acquire the error range of an estimated position based on the signal from the sensor, as a normal error range. In this case, the acquiring section 310 may be operable to acquire the normal error range associated with the position of the first mobile object 12.

Here, the normal error range may be an error range based on the first sensor information of the first mobile object 12. Instead of or in addition to this, the normal error range may include error information based on sensor information acquired from another mobile object 10 that has the same sensor or the same type of sensor as the first mobile object 12. If this other mobile object 10 has travelled at substantially the same position as the first mobile object 12 in the past, the normal error range may include error information based on the sensor information acquired from this other mobile object 10. The normal error range may be a range of a distribution of error information accumulated in the storage section 330.

The estimating section 320 may be operable to match the position information of the first mobile object 12 with geographic data, and estimate an estimated position of the first mobile object 12. The estimating section 320 may estimate the position of the first mobile object 12 by matching this position with the geographic data managed by the subsystem 200, based on the first sensor information of the first mobile object 12. Specifically, the estimating section 320 may set the position in the geographic data corresponding to the GPS information transmitted to the system 100 by the first mobile object 12 as the estimated position of the first mobile object 12.

The storage section 330 may be operable to store the information acquired by the acquiring section 310. For example, the storage section 330 may store the first sensor information of the first mobile object 12. The storage section 330 may store the geographic data managed by the subsystem 200. The storage section 330 may store information concerning the detection errors of various sensors for each position in the geographic data. In this case, the storage section 330 may accumulate the information concerning the detection errors of the various sensors and store a distribution of the detection error for every position.

The storage section 330 may store the normal error range of the sensor for every position, based on the detection error distribution. As an example, the storage section 330 may store a standard deviation such as □ or 2□ of the detection error distribution, as the normal error range. Specifically, the storage section 330 may be operable to store, as context data, the normal error range of the sensor for every position in the geographic space managed by the subsystem 200. In this case, the storage section 330 may function as a database for the context data. The storage section 330 preferably stores the context data for each type of sensor.

The storage section 330 may store each of intermediate data, calculation results, parameters, and the like that are generated by or used in the process of managing the plurality of mobile objects 10 performed by the subsystem 200. The storage section 330 may, in response to a request from each component in the system 100, supply the source of the request with stored data. The storage section 330 may, in response to a request from the acquiring section 310, supply the acquiring section 310 with stored information concerning the normal error range.

The judging section 340 may be operable to judge whether the first mobile object 12 is a real mobile object, based on the first sensor information detected by the sensor of the first mobile object 12 among the plurality of mobile objects 10. The judging section 340 may be operable to calculate the estimation error of the first sensor information from a position corresponding to the position information of the first mobile object 12 and the estimated position of the first mobile object 12. The judging section 340 may judge whether the first mobile object 12 is a real mobile object based on the estimation error of the first sensor information.

The judging section 340 may perform the judgment of the first mobile object 12 using the estimation error of the first sensor information, the reference error range, and the normal error range. For example, the judging section 340 may judge that there is a high probability of the first mobile object 12 not being a real mobile object, on a condition that the estimation error of the first sensor information is outside of the reference error range. Furthermore, the judging section 340 may judge that the first mobile object 12 is not a real mobile object on a condition that the estimation error of the first sensor information is outside the normal error range, for example.

The information processing section 350 may be operable to perform information processing for each of the plurality of mobile objects 10. The information processing section 350 may perform the information processing on a second mobile object among the plurality of mobile objects 10 excluding the first mobile object 12, in response to the first mobile object 12 being judged as not being a real mobile object. The information processing section 350 may be operable to perform information processing relating to mobile object agents corresponding respectively to the plurality of mobile objects 10.

The information processing section 350 may be operable to assist the plurality of mobile objects 10. The information processing section 350 may assist with the movement of the plurality of mobile objects 10 excluding the first mobile object 12, while ignoring the presence of the first mobile object 12 that has been judged to be spoofed from this plurality of mobile objects 10. In other words, the information processing section 350 does not need to provide notifications and/or instructions corresponding to the information of the first mobile object 12 to the plurality of mobile objects 10 excluding the first mobile object 12.

The system 100 according to the present embodiment described above may be operable to assist the plurality of mobile objects 10 while judging whether the first mobile object 12 is a real mobile object. Furthermore, the system 100 may continue assisting the plurality of mobile objects 10 while accumulating the first sensor information and/or information based on the first sensor information serving as evidence for the judgment. The following describes the management operation of such a system 100.

FIG. 16 shows an exemplary configuration of a portion of the operational flow of the system 100 according to the present embodiment. The mobile object server 220 according to the present embodiment assists with the movement of a plurality of mobile objects 10 in a geographic space by performing the operational flow shown in FIG. 16. In other words, the operational flow shown in FIG. 16 may be performed by the mobile object server 220 in addition to or instead of the mobile object server processing (S660) described in FIG. 6 and FIG. 13.

First, at S702, the system 100 may communicate with the plurality of mobile objects 10 moving within the geographic space. For example, the acquiring section 310 may acquire one or more pieces of sensor information from among the pieces of sensor information detected by the sensor mounted in each of the plurality of mobile objects 10. The acquiring section 310 may acquire the first sensor information of the first mobile object 12 for which the judgment concerning whether the first mobile object 12 is a real mobile object is to be made. The acquiring section 310 may store the acquired first sensor information in the storage section 330.

Next, at S704, the acquiring section 310 may acquire information concerning the first mobile object 12 that is an analysis target. The acquiring section 310 may acquire information concerning the type and model of the first mobile object 12, the type and model of the mounted sensors, and the like. The acquiring section 310 may acquire information concerning the specifications or the like of the sensors mounted in the first mobile object 12. For example, the acquiring section 310 may acquire the model or the like of the GPS receiver mounted in the first mobile object 12 and acquire information concerning the specifications or the like of this GPS receiver.

Here, the information concerning the specifications or the like of the sensors may be registered in advance in the system 100. The acquiring section 310 may acquire information concerning the specifications or the like from a manufacturer or the like of the sensor, via the network. As an example, the acquiring section 310 acquires information concerning the allowable error of the GPS receiver mounted in the first mobile object 12, as the reference error range. If the storage section 330 stores information concerning the reference error range of sensors that are substantially the same or the same type acquired through communication with a plurality of mobile objects 10 in the past, the acquiring section 310 may acquire the information concerning the reference error range of these sensors accumulated by the storage section 330.

Here, if the acquiring section 310 cannot acquire the information concerning the reference error range, the acquiring section 310 may set predetermined threshold values as the reference error range. The predetermined threshold values may be an error range considered to be common sense for a GPS sensor, for example. Alternatively, the predetermined threshold values may be an average value or a maximum range of the normal error range for every position accumulated in the system 100. Instead, if the acquiring section 310 cannot acquire the information concerning the reference error range, the system 100 may skip the operations from S706 to S710.

Next, in S706, the estimating section 320 and the judging section 340 estimate the error of the first sensor information of the first mobile object 12. The estimating section 320 may estimate the position of the first mobile object 12 in the geographic data, by performing map matching using the first sensor information and the geographic data managed by the subsystem 200. The judging section 340 may calculate the difference between the position in the geographic data measured by the estimating section 320 and the position information of the raw data of the first sensor information, as the estimation error.

Next, in S708, the judging section 340 compares the calculated estimation error and the reference error range. If the calculated estimation error is outside the reference error range (S708: No), the judging section 340 may judge that there is a high probability of the first mobile object 12 being spoofed. In this case, at S710, the judging section 340 may increase the probability value p from an initial value. The judging section 340 may add a predetermined value to the initial value of the probability value p. Furthermore, the judging section 340 may add a weighted value, which is weighted according to the amount by which the estimation error falls outside the reference error range, to the initial value of the probability value p.

If the calculated estimation error is within the reference error range (S708: Yes), the judging section 340 may keep the probability value p at the initial value. In this way, the judging section 340 may first judge whether the error based on the first sensor information of the first mobile object 12 is within the reference range. In this way, if the first mobile object 12 transmits information that contradicts the specification of the sensor as the first sensor information, the judging section 340 can increase the probability of this first mobile object 12 being spoofed.

Next, the system 100 may perform loop processing from S712 to S722, while the first mobile object 12 is moving. Specifically, this loop processing may be performed at every point in the movement, if the pieces of first sensor information acquired in time series from the first mobile object 12 indicate that the first mobile object 12 is moving. Here, each point may be set according to a plurality of predetermined points in the geographic data managed by the subsystem 200. These points may be set at every interval of a predetermined distance, or may be set every time a predetermined time has passed.

For example, in S714, the acquiring section 310 may acquire from the storage section 330 the information concerning the normal error range corresponding to a first point in a route on which the first mobile object 12 moves. Here, the first point may be a position corresponding to the first piece of first sensor information received from the first mobile object 12 after the first mobile object 12 begins moving. The acquiring section 310 may acquire the normal error range accumulated by the system 100 as context information at a position corresponding to the first point.

Next, in S716, the estimating section 320 and the judging section 340 may estimate the error of the first sensor information transmitted at the first point by the first mobile object 12. The estimating section 320 and the judging section 340 may calculate the error in the same manner as the procedure used to calculate the error in S706. Specifically, the estimating section 320 may estimate the position of the first mobile object 12 in the geographic data by performing map matching using the first sensor information and the geographic data managed by the subsystem 200. The judging section 340 may calculate the difference between the position in the geographic data estimated by the estimating section 320 and the position information of the raw data of the first sensor information, as the estimation error.

Next, in S718, the judging section 340 compares the calculated estimation error to the normal error range. If the calculated estimation error is outside the normal error range (S718: No), the judging section 340 may judge that there is a high probability of the first mobile object 12 being spoofed. In this case, at S720, the judging section 340 may increase the probability value p. The judging section 340 may add a predetermined value to the probability value p. Furthermore, the judging section 340 may add a weighted value, which is weighted according to the amount by which the estimation error falls outside the normal error range, to the probability value p.

If the calculated estimation error is within the normal error range (S718: Yes), the judging section 340 may keep the probability value p at the current value. Upon making the judgment for the first point, the system 100 may return to S714 and perform the judgment for a second point, which is the next point after the first point. The system 100 may sequentially perform judgments for a plurality of points in the movement route of the first mobile object 12. In this way, the judging section 340 may judge whether the error based on the first sensor information of the first mobile object 12 is within the normal range, for every point in the movement route of the first mobile object 12.

If judgments for a predetermined number of points have been finished, the system 100 may end the loop processing. Furthermore, the system 100 may end the loop processing if a predetermined time has passed. Yet further, the system 100 may end the loop processing if the probability value p exceeds a predetermined value.

When the loop processing ends, in S724, the judging section 340 may judge whether the first mobile object 12 is spoofed, according to the probability value p. In response to the probability value p being greater than or equal to a predetermined reference value (S724: Yes), for example, in S726 the judging section 340 may judge that the first sensor signal from the first mobile object 12 is a spoofed signal. In response to the probability value p being less than the predetermined reference value (S724: No), for example, in S728 the judging section 340 may judge that the first sensor signal from the first mobile object 12 is not a spoofed signal.

Here, each sensor mounted in the plurality of mobile objects 10 preferably operates within a predetermined error range. Furthermore, each sensor preferably operates in a substantially constant error range, regardless of the position of the mobile object 10 in which the sensor is mounted. However, the surrounding environment of a mobile object 10 can fluctuate according to the position. For example, if the mobile object 10 is travelling through an area with skyscrapers, there are cases where the number of signals that can be received from among the signals transmitted from a plurality of GPS satellites fluctuates according to the position where the mobile object 10 is travelling. There are also cases where the temperature, humidity, air pressure, and the like fluctuate according to the season, weather, time, and the like at the position where the mobile object 10 is travelling. There are cases where such fluctuation in the surrounding environment corresponding to the position of the mobile object 10 causes a fluctuation in the detection errors of the sensors.

Specifically, as a result of one mobile object 10 travelling on a road, there are cases where the error of a sensor mounted in this one mobile object 10 fluctuates according to the position of this one mobile object 10. There are also cases where such error fluctuation of the sensor corresponding to the position has a peculiar trend for every type of car, every type of sensor, or every model of sensor. Therefore, the system 100 stores the error information corresponding to the position of the sensor based on each piece of sensor information of the plurality of mobile objects 10 in the storage section 330 for every type of car, every type of sensor, or every model of sensor. When the error information of the storage section 330 is accumulated for every position, an error distribution for every position is obtained, and therefore the storage section 330 can store the range of this distribution in advance as the normal error range.

In this way, the system 100 can judge whether the first mobile object 12 is an automobile that is actually travelling, according to whether the error information based on the first sensor information of the first mobile object 12 is within the normal error range. The normal error range may be an error range obtained by accumulating the error information of other mobile objects 10. Furthermore, the normal error range is preferably an error range obtained by accumulating the error information of other mobile objects 10 that are the same type. The normal error range is preferably an error range obtained by accumulating the error information of other mobile objects 10 that have the same type or same model of sensor mounted therein. The normal error range is more preferably an error range obtained by accumulating the error information acquired when the first mobile object 12 was positioned at substantially the same point as in the past.

In the manner described above, by storing the error information of a plurality of mobile objects 10, the system 100 according to the present embodiment can judge whether the first mobile object 12 is a real mobile object, based on the first sensor information received from this first mobile object 12. Here, the system 100 may perform the accumulation of the error information along with the judgment concerning the first mobile object 12. Specifically, when calculating the estimation error, the judging section 340 may store this estimation error in the storage section 330. The judging section 340 may also calculate the error of another mobile object 10 and, in this case, may store the calculated error in the storage section 330.

Specifically, the judging section 340 may be operable to store the normal error range for every position in the geographic space in the context database, based on the estimation error of the position information detected by at least one mobile object 10 in response to the at least one mobile object among the plurality of mobile objects 10 having moved in the geographic space. The judging section 340 may be operable to store the normal error range of every position in the geographic space independently for each of at least one of the type and model of at least one mobile object and the condition of this position.

The above describes an example in which the system 100 according to the present embodiment judges whether a first mobile object 12 is a real mobile object according to the error information based on the first sensor information of the first mobile object 12, the normal error range, and the reference error range, but the present invention is not limited to this. For example, if the error based on the first sensor information of the first mobile object 12 is substantially the same value in the movement route, the judging section 340 may judge that the first mobile object 12 is not a real mobile object.

Furthermore, even if the error based on the first sensor information of the first mobile object 12 does change according to the position, it is not always the case that the first mobile object 12 is a real mobile object. For example, if at least three digits of a significant figure substantially match with a past error of the first mobile object 12 at a plurality of points in the same route, the judging section 340 may judge that the first mobile object 12 is not a real mobile object.

In addition to or instead of the estimation error judgment, the judging section 340 may judge whether the first mobile object 12 is a real mobile object according to the estimated position of a second mobile object. For example, the judging section 340 may be operable to judge that the first mobile object 12 is not a real mobile object in response to the position of the first mobile object 12 overlapping at the same time with a position of the second mobile object among the plurality of mobile objects 10.

Here, the second mobile object may be a mobile object that is different from the first mobile object 12 among the plurality of mobile objects 10, and moves nearby when the first mobile object 12 is moving or is stopped. The second mobile object is not limited to being a single mobile object, and there may be a plurality of second mobile objects if there are a plurality of mobile objects near the first mobile object 12 such that the distance between vehicles is from several meters to tens of meters. By comparing the position of the first mobile object 12 to the position of each mobile object near the first mobile object 12 at each timing, the judging section 340 can judge whether there is a contradiction with the first sensor information of the first mobile object 12.

Furthermore, the judging section 340 may judge whether the first mobile object 12 is a real mobile object based on the result of a comparison between the behavior of the first mobile object 12 and the behavior of the second mobile object positioned within a predetermined distance from the first mobile object 12 in the same route as the first mobile object 12, from among the plurality of mobile objects 10. For example, if the first mobile object 12 continues travelling at substantially the same speed at substantially the same time on substantially the same route despite the second mobile object decelerating, stopping, changing lanes, or the like due to waiting for a traffic light, being at the scene of an accident, waiting at a pedestrian crosswalk, or the like, the judging section 340 may judge that the first mobile object 12 is not a real mobile object.

Here, the system 100 according to the present embodiment can further use information of a sensor or the like provided in the second mobile object or on the road. Accordingly, based on the position information of the first mobile object 12, the system 100 may acquire information of other sensors operable to acquire this position information and judge whether the first mobile object 12 is a real mobile object. Specifically, the judging section 340 may be operable to judge that the first mobile object 12 is a real mobile object in response to the first mobile object 12 being detected at a position corresponding to the position information of the first mobile object 12 according to a sensor provided in the geographic space or in the second mobile object among the plurality of mobile objects.

The above is a description of an example in which the system 100 according to the present embodiment judges whether the first mobile object 12 is a real mobile object by comparing the probability value p to a reference value. Instead of this, the system 100 may classify the first mobile object 12 according to a plurality of threshold values. For example, the judging section 340 may judge that the first mobile object 12 is a real mobile object if the probability value p is less than a first threshold value. Furthermore, the judging section 340 may judge that there is a possibility that the first mobile object 12 is not a real mobile object if the probability value p is greater than or equal to the first reference value and less than a second reference value. Yet further, the judging section 340 may judge that the first mobile object 12 is not a real mobile object if the probability value p is greater than or equal to the second threshold value.

In this way, the judging section 340 may be operable to judge that there is a possibility that the first mobile object 12 is not a real mobile object. In this case, the system 100 may be operable to perform a more detailed investigation of the first mobile object 12. The following describes such a system.

FIG. 17 shows a fourth exemplary configuration of the system 100 according to the present embodiment. In the system 100 according to the present embodiment, components that have substantially the same operation as components in the system 100 according to the embodiment shown in FIG. 15 are given the same reference numerals and descriptions thereof are omitted. In the system 100 having the fourth exemplary configuration, the mobile object server 220 further includes a requesting section 360.

The requesting section 360 may be operable to request that the second mobile object 14 among the plurality of mobile objects 10 checks whether there is a first mobile object 12 at a position corresponding to the position information of this first mobile object 12. Furthermore, the requesting section 360 may be operable to request that a sensor or the like provided on the road checks whether the first mobile object 12 is present. The requesting section 360 may make the requests for checking to the second mobile object 14 and/or the sensor or the like on the road in response to the judging section 340 judging that there is a possibility that the first mobile object 12 is not a real mobile object.

The second mobile object 14 and/or the sensor or the like on the road may be operable to detect the position of the first mobile object 12 based on the first sensor information of the first mobile object 12. For example, the second mobile object 14 and/or the sensor or the like on the road may detect a corresponding mobile object by using a vehicle-mounted camera, an infrared sensor, a microwave sensor, or the like. If it is impossible to clearly judge whether the first mobile object 12 is real, the system 100 having the fourth exemplary configuration performs a check using a more specific detection means, and can therefore make an accurate judgment.

The detection means used by the second mobile object 14 or the like can directly detect a mobile object using a camera or the like, and therefore the detection accuracy is high but time, effort, and cost are incurred. Accordingly, by performing the detection with the second mobile object 14 or the like only for a first mobile object 12 that has been judged to possibly not be a real mobile object, for example, such as in the system 100 having the fourth exemplary configuration, it is possible to reduce the time, effort, and cost.

The above describes an example in which the system 100 according to the present embodiment can easily judge whether the first mobile object 12 is spoofed or a virtual mobile object. The system 100 may sequentially perform this judgment on mobile objects for which the judgment concerning realness has not been made, from among the plurality of mobile objects 10. Furthermore, the system 100 may be operable to perform registration by attaching a label of a virtual mobile object to spoofed information that is not real, and track the behavior of this virtual mobile object.

In this case, the judging section 340 may be operable to identify whether the first mobile object 12 is registered in advance as a virtual mobile object, before making the judgment for this first mobile object 12. If the first mobile object 12 is a registered virtual mobile object, the judging section 340 may skip the judgment for this first mobile object 12. The information processing section 350 may then store the behavior of this virtual mobile object in the storage section 330 by adding this behavior to the past behavior. If a request is made to provide information from the virtual mobile object, for example, the information processing section 350 may continue to monitor this virtual mobile object while performing a process to provide dummy information or the like.

The judging section 340 may be operable to judge whether the first mobile object 12 is a real mobile object based on the first sensor information, on a condition that the first mobile object 12 has been identified as not being a virtual mobile object. In this way, the system 100 according to the present embodiment can efficiently manage a plurality of mobile objects, without performing redundant spoofing judgments. Furthermore, since the system 100 can monitor causes of unstable operations, sources of reliability reduction, and the like in the system, the system 100 can quickly adapt even when a virtual mobile object begins abnormal operation.

FIG. 18 shows an exemplary hardware configuration of a computer according to the embodiment of the invention. A program that is installed in the computer 800 can cause the computer 800 to function as or perform operations associated with apparatuses of the embodiments of the present invention or one or more sections (including modules, components, elements, etc.) thereof, and/or cause the computer 800 to perform processes of the embodiments of the present invention or steps thereof. Such a program may be executed by the CPU 800-12 to cause the computer 800 to perform certain operations associated with some or all of the blocks of flowcharts and block diagrams described herein.

The computer 800 according to the present embodiment includes a CPU 800-12, a RAM 800-14, a graphics controller 800-16, and a display device 800-18, which are mutually connected by a host controller 800-10. The computer 800 also includes input/output units such as a communication interface 800-22, a hard disk drive 800-24, a DVD-ROM drive 800-26 and an IC card drive, which are connected to the host controller 800-10 via an input/output controller 800-20. The computer also includes legacy input/output units such as a ROM 800-30 and a keyboard 800-42, which are connected to the input/output controller 800-20 through an input/output chip 800-40.

The CPU 800-12 operates according to programs stored in the ROM 800-30 and the RAM 800-14, thereby controlling each unit. The graphics controller 800-16 obtains image data generated by the CPU 800-12 on a frame buffer or the like provided in the RAM 800-14 or in itself, and causes the image data to be displayed on the display device 800-18.

The communication interface 800-22 communicates with other electronic devices via a network 800-50. The hard disk drive 800-24 stores programs and data used by the CPU 800-12 within the computer 800. The DVD-ROM drive 800-26 reads the programs or the data from the DVD-ROM 800-01, and provides the hard disk drive 800-24 with the programs or the data via the RAM 800-14. The IC card drive reads programs and data from an IC card, and/or writes programs and data into the IC card.

The ROM 800-30 stores therein a boot program or the like executed by the computer 800 at the time of activation, and/or a program depending on the hardware of the computer 800. The input/output chip 800-40 may also connect various input/output units via a parallel port, a serial port, a keyboard port, a mouse port, and the like to the input/output controller 800-20.

A program is provided by computer readable media such as the DVD-ROM 800-01 or the IC card. The program is read from the computer readable media, installed into the hard disk drive 800-24, RAM 800-14, or ROM 800-30, which are also examples of computer readable media, and executed by the CPU 800-12. The information processing described in these programs is read into the computer 800, resulting in cooperation between a program and the above-mentioned various types of hardware resources. An apparatus or method may be constituted by realizing the operation or processing of information in accordance with the usage of the computer 800.

For example, when communication is performed between the computer 800 and an external device, the CPU 800-12 may execute a communication program loaded onto the RAM 800-14 to instruct communication processing to the communication interface 800-22, based on the processing described in the communication program. The communication interface 800-22, under control of the CPU 800-12, reads transmission data stored on a transmission buffering region provided in a recording medium such as the RAM 800-14, the hard disk drive 800-24, the DVD-ROM 800-01, or the IC card, and transmits the read transmission data to network 800-50 or writes reception data received from network 800-50 to a reception buffering region or the like provided on the recording medium.

In addition, the CPU 800-12 may cause all or a necessary portion of a file or a database to be read into the RAM 800-14, the file or the database having been stored in an external recording medium such as the hard disk drive 800-24, the DVD-ROM drive 800-26 (DVD-ROM 800-01), the IC card, etc., and perform various types of processing on the data on the RAM 800-14. The CPU 800-12 may then write back the processed data to the external recording medium.

Various types of information, such as various types of programs, data, tables, and databases, may be stored in the recording medium to undergo information processing. The CPU 800-12 may perform various types of processing on the data read from the RAM 800-14, which includes various types of operations, processing of information, condition judging, conditional branch, unconditional branch, search/replace of information, etc., as described throughout this disclosure and designated by an instruction sequence of programs, and writes the result back to the RAM 800-14. In addition, the CPU 800-12 may search for information in a file, a database, etc., in the recording medium. For example, when a plurality of entries, each having an attribute value of a first attribute is associated with an attribute value of a second attribute, are stored in the recording medium, the CPU 800-12 may search for an entry matching the condition whose attribute value of the first attribute is designated, from among the plurality of entries, and reads the attribute value of the second attribute stored in the entry, thereby obtaining the attribute value of the second attribute associated with the first attribute satisfying the predetermined condition.

The above-explained program or software modules may be stored in the computer readable media on or near the computer 800. In addition, a recording medium such as a hard disk or a RAM provided in a server system connected to a dedicated communication network or the Internet can be used as the computer readable media, thereby providing the program to the computer 800 via the network.

The programs described herein are identified based upon the application for which they are implemented in a specific embodiment of the invention. However, it should be appreciated that any particular program nomenclature herein is used merely for convenience, and thus the invention should not be limited to use solely in any specific application identified and/or implied by such nomenclature.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.

The present invention may be a system, a method, and/or a computer program product at any possible technical detail level of integration. The computer program product may include a computer readable storage medium (or media) having computer readable program instructions thereon for causing a processor to carry out aspects of the present invention.

The computer readable storage medium can be a tangible device that can retain and store instructions for use by an instruction execution device. The computer readable storage medium may be, for example, but is not limited to, an electronic storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. A non-exhaustive list of more specific examples of the computer readable storage medium includes the following: a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), a static random access memory (SRAM), a portable compact disc read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanically encoded device such as punch-cards or raised structures in a groove having instructions recorded thereon, and any suitable combination of the foregoing. A computer readable storage medium, as used herein, is not to be construed as being transitory signals per se, such as radio waves or other freely propagating electromagnetic waves, electromagnetic waves propagating through a waveguide or other transmission media (e.g., light pulses passing through a fiber-optic cable), or electrical signals transmitted through a wire.

Computer readable program instructions described herein can be downloaded to respective computing/processing devices from a computer readable storage medium or to an external computer or external storage device via a network, for example, the Internet, a local area network, a wide area network and/or a wireless network. The network may comprise copper transmission cables, optical transmission fibers, wireless transmission, routers, firewalls, switches, gateway computers and/or edge servers. A network adapter card or network interface in each computing/processing device receives computer readable program instructions from the network and forwards the computer readable program instructions for storage in a computer readable storage medium within the respective computing/processing device.

Computer readable program instructions for carrying out operations of the present invention may be assembler instructions, instruction-set-architecture (ISA) instructions, machine instructions, machine dependent instructions, microcode, firmware instructions, state-setting data, configuration data for integrated circuitry, or either source code or object code written in any combination of one or more programming languages, including an object oriented programming language such as Smalltalk, C++, or the like, and procedural programming languages, such as the “C” programming language or similar programming languages. The computer readable program instructions may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet Service Provider). In some embodiments, electronic circuitry including, for example, programmable logic circuitry, field-programmable gate arrays (FPGA), or programmable logic arrays (PLA) may execute the computer readable program instructions by utilizing state information of the computer readable program instructions to personalize the electronic circuitry, in order to perform aspects of the present invention.

Aspects of the present invention are described herein with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each block of the flowchart illustrations and/or block diagrams, and combinations of blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer readable program instructions.

These computer readable program instructions may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions/acts specified in the flowchart and/or block diagram block or blocks. These computer readable program instructions may also be stored in a computer readable storage medium that can direct a computer, a programmable data processing apparatus, and/or other devices to function in a particular manner, such that the computer readable storage medium having instructions stored therein comprises an article of manufacture including instructions which implement aspects of the function/act specified in the flowchart and/or block diagram block or blocks.

The computer readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable apparatus or other device to produce a computer implemented process, such that the instructions which execute on the computer, other programmable apparatus, or other device implement the functions/acts specified in the flowchart and/or block diagram block or blocks.

The flowchart and block diagrams in the Figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of instructions, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the blocks may occur out of the order noted in the Figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or acts or carry out combinations of special purpose hardware and computer instructions.

While steps of the disclosed method and components of the disclosed systems and environments have been sequentially or serially identified using numbers and letters, such numbering or lettering is not an indication that such steps must be performed in the order recited, and is merely provided to facilitate clear referencing of the method's steps. Furthermore, steps of the method may be performed in parallel to perform their described functionality.

While the embodiments of the present invention have been described, the technical scope of the invention is not limited to the above described embodiments. It is apparent to persons skilled in the art that various alterations and improvements can be added to the above-described embodiments. It is also apparent from the scope of the claims that the embodiments added with such alterations or improvements can be included in the technical scope of the invention. 

What is claimed is:
 1. A method for management of a movement of mobile objects, the method comprising: managing, by a first computing system, a plurality of mobile objects moving within a geographic space, wherein managing the plurality of mobile objects comprises assisting with movement of the plurality of mobile objects; and determining whether a first mobile object among the plurality of mobile objects is a real mobile object based on a first sensor information received from the first mobile object, wherein the first sensor information includes position information of the first mobile object detected by the first mobile object; and based on determining that the first mobile object is the real mobile object, using information received from the first mobile object in managing the plurality of mobile objects moving within the geographic space, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining whether the first mobile object is a real mobile object based on an estimation error of the first sensor information.
 2. The method according to claim 1, further comprising: determining an estimated position of the first mobile object by matching the position information of the first mobile object with geographic data, determining whether a first mobile object among the plurality of mobile objects is a real mobile object comprises calculating the estimation error of the first sensor information from a position corresponding to the position information of the first mobile object and the estimated position.
 3. The method according to claim 2, further comprising: acquiring a normal error range associated with the position of the first mobile object, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining that the first mobile object is not a real mobile object, on a condition that the estimation error of the first sensor information is outside the normal error range.
 4. The method according to claim 3, further comprising: storing the normal error range for every position in the geographic space in a context database, based on an estimation error of position information detected by at least one mobile object among the plurality of mobile objects based on the at least one mobile object having moved in the geographic space.
 5. The method according to claim 4, wherein storing the normal error range for every position in the geographic space comprises independently storing information for each of at least one of: a type of the at least one mobile object, a model of the at least one mobile object, and a condition of the position.
 6. The method according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining that the first mobile object is not a real mobile object, in response to a position of the first mobile object overlapping at the same timing with a position of a second mobile object among the plurality of mobile objects.
 7. The method according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining whether the first mobile object is a real mobile object based on a result of a comparison between behavior of the first mobile object and behavior of a second mobile object positioned within a predetermined distance of and on the same route as the first mobile object among the plurality of mobile objects.
 8. The method according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining that the first mobile object is a real mobile object, in response to the first mobile object being detected at a position corresponding to the position information of the first mobile object according to a sensor provided in the geographic space or in a second mobile object among the plurality of mobile objects.
 9. The method according to claim 1, further comprising: requesting that a second mobile object among the plurality of mobile objects checks whether the first mobile object is present at a position corresponding to the position information of the first mobile object in response to a judgment that the first mobile object is possibly not a real mobile object.
 10. The method according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object further comprises: identifying whether the first mobile object is a virtual mobile object that has been registered in advance; and determining whether the first mobile object is a real mobile object based on determining that the first mobile object is identified as not being a virtual mobile object.
 11. A computer system for management of a movement of mobile objects, the computer system comprising: a processor, a computer-readable tangible storage device, and program instructions stored on computer-readable tangible storage device for execution by the processor, the program instructions comprising: managing, by a first computing system, a plurality of mobile objects moving within a geographic space, wherein managing the plurality of mobile objects comprises assisting with movement of the plurality of mobile objects; and determining whether a first mobile object among the plurality of mobile objects is a real mobile object based on a first sensor information received from the first mobile object, wherein the first sensor information includes position information of the first mobile object detected by the first mobile object; and based on determining that the first mobile object is the real mobile object, using information received from the first mobile object in managing the plurality of mobile objects moving within the geographic space, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining whether the first mobile object is a real mobile object based on an estimation error of the first sensor information.
 12. The computer system according to claim 11, further comprising: performing information processing for each of the plurality of mobile objects comprising processing information for a second mobile object among the plurality of mobile objects while excluding a presence of the first mobile object, in response to the first mobile object being judged as not being real.
 13. The computer system according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining that the first mobile object is not a real mobile object, in response to a position of the first mobile object overlapping at the same timing with a position of a second mobile object among the plurality of mobile objects.
 14. The computer system according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining whether the first mobile object is a real mobile object based on a result of a comparison between behavior of the first mobile object and behavior of a second mobile object positioned within a predetermined distance of and on the same route as the first mobile object among the plurality of mobile objects.
 15. The computer system according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining that the first mobile object is a real mobile object, in response to the first mobile object being detected at a position corresponding to the position information of the first mobile object according to a sensor provided in the geographic space or in a second mobile object among the plurality of mobile objects.
 16. The computer system according to claim 1, further comprising: requesting that a second mobile object among the plurality of mobile objects checks whether the first mobile object is present at a position corresponding to the position information of the first mobile object in response to a judgment that the first mobile object is possibly not a real mobile object.
 17. The computer system according to claim 1, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object further comprises: identifying whether the first mobile object is a virtual mobile object that has been registered in advance; and determining whether the first mobile object is a real mobile object based on determining that the first mobile object is identified as not being a virtual mobile object.
 18. The computer system according to claim 11, further comprising: determining an estimated position of the first mobile object by matching the position information of the first mobile object with geographic data, determining whether a first mobile object among the plurality of mobile objects is a real mobile object comprises calculating the estimation error of the first sensor information from a position corresponding to the position information of the first mobile object and the estimated position.
 19. A computer program product for management of a movement of mobile objects, the computer program product comprising: a computer-readable storage device and program instructions stored on computer-readable storage device, the program instructions comprising: managing, by a first computing system, a plurality of mobile objects moving within a geographic space, wherein managing the plurality of mobile objects comprises assisting with movement of the plurality of mobile objects; and determining whether a first mobile object among the plurality of mobile objects is a real mobile object based on a first sensor information received from the first mobile object, wherein the first sensor information includes position information of the first mobile object detected by the first mobile object; and based on determining that the first mobile object is the real mobile object, using information received from the first mobile object in managing the plurality of mobile objects moving within the geographic space, wherein determining whether a first mobile object among the plurality of mobile objects is a real mobile object includes determining whether the first mobile object is a real mobile object based on an estimation error of the first sensor information.
 20. The computer program product according to claim 18, further comprising: performing information processing for each of the plurality of mobile objects comprising processing information for a second mobile object among the plurality of mobile objects while excluding a presence of the first mobile object, in response to the first mobile object being judged as not being real. 